• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Dynamics Calculation and Precise Control of a Suspended Object for Large Scale Cable Robot

Research Project

Project/Area Number 23560290
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKyushu University

Principal Investigator

YAMAMOTO Motoji  九州大学, 工学(系)研究科(研究院), 教授 (90202390)

Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2011: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Keywordsケーブルロボット / ワイヤ弛み / 懸垂物振動 / 位置姿勢制御 / ロボット / ワイヤ拘束機構 / ワイヤたわみ / 高精度制御 / 動力学モデル / 懸垂物位置姿勢推定 / 慣性センサ / ケーブル張力 / ケーブル撓み / カテナリー曲線 / ケーブル運動
Research Abstract

Large scale cable robot is used as a simple positioning mechanism such as an active camera system in a stadium or a large telescope structure, because of its simple and light weight mechanism. However, the large scale cable robot has disadvantage of low rigidity which leads to cable's sag and cable's vibration. Those characteristics make difficult to realize precise positioning control of the suspended object for the cable robot. Therefore, this study firstly proposes a dynamical model which represents cable's sag and cable's vibration. Then the dynamical model is used as a compensator for a feedback controller of the large scale cable robot. To realize the feedback control system, measurement of the suspended object is also needed. Thus, the study also proposes the measurement and estimation method of the suspended object. The total control method shows an ability of precise control of the suspended object for the large scale cable robot.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (32 results)

All 2014 2013 2012 2011 Other

All Journal Article (13 results) (of which Peer Reviewed: 9 results) Presentation (17 results) Remarks (1 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Characteristic analysis of an air cell for active air mattress of prevention for pressure ulcer2014

    • Author(s)
      Atsushi Takashimaa, Akitsugu Misakib, Shin-ichiro Takasugic and Motoji Yamamoto
    • Journal Title

      Advanced Robotics

      Volume: Vol. 28, No. 7 Issue: 7 Pages: 497-504

    • DOI

      10.1080/01691864.2013.876937

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Differential Algebraic Method to Approximate Nonsmooth Mechanical Systems by Ordinary Differential Equations2013

    • Author(s)
      Xiaogang Xiong, Ryo Kikuuwe, Motoji Yamamoto
    • Journal Title

      Journal of Applied Mathematics

      Volume: vol.2013, Article ID 320276 Pages: 13-13

    • Related Report
      2013 Final Research Report
  • [Journal Article] 三次元高精度姿勢推定のための慣性センサの線形・非線形特性分離に基づいた相補フィルタ2013

    • Author(s)
      杉原知道,舛屋賢,山本元司
    • Journal Title

      日本ロボット学会誌

      Volume: Vol.31, No.3 Pages: 37-48

    • NAID

      10031162050

    • Related Report
      2013 Annual Research Report 2013 Final Research Report 2012 Research-status Report
  • [Journal Article] A Differential Algebraic Method to Approximate Nonsmooth Mechanical Systems by Ordinary Differential Equations2013

    • Author(s)
      Xiaogang Xiong, Ryo Kikuuwe, and Motoji Yamamoto
    • Journal Title

      Journal of Applied Mathematics

      Volume: vol. 2013, Article ID 320276 Pages: 1-13

    • DOI

      10.1155/2013/320276

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Multistate Friction Model Described by Continuous Differential Equations2013

    • Author(s)
      Xiaogang Xiong,Ryo Kikuuwe,Motoji Yamamoto
    • Journal Title

      Tribol Lett

      Volume: 51 Issue: 3 Pages: 513-523

    • DOI

      10.1007/s11249-013-0187-x

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Realtime quadratic sliding mode filter for removing noise2012

    • Author(s)
      Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto
    • Journal Title

      Advanced Robotics

      Volume: vol.26, no.8-9 Pages: 877-896

    • Related Report
      2013 Final Research Report
  • [Journal Article] Parameter selection guidelines for a parabolic slidong mode filter based on frequency and time domain characteristics2012

    • Author(s)
      Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto
    • Journal Title

      Journal of Control Science and Engineering

      Volume: Vol.2012, article ID 923679 Pages: 13-13

    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Journal Article] 汚れ検出センサを搭載した壁面移動ロボットによる確実な窓ガラス清掃動作2012

    • Author(s)
      香月良夫, 池田毅, 山本元司
    • Journal Title

      日本機械学会論文集(C 編)

      Volume: Vol.78, No.786 Pages: 557-566

    • NAID

      130002051323

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Finger-Mounted Tactile Sensor for Evaluating Surfaces2012

    • Author(s)
      Ryo Kikuuwe, Kenta Nakamura, and Motoji Yamamoto
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: Vol.25 No.1 Pages: 430-440

    • NAID

      130002051260

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Realtime quadratic sliding mode filter for emoving noise2012

    • Author(s)
      Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto
    • Journal Title

      Advanced Robotics

      Volume: vol.26, no.8-9 Pages: 877-896

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] 無段変速機構を有する逆可動性の高いパラレルマニピュレータ2012

    • Author(s)
      田原健二,岩佐信吾,那波修,山本元司
    • Journal Title

      日本ロボット学会誌

      Volume: Vol.30 Pages: 99-106

    • NAID

      10030208997

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] 汚れ検出センサを搭載した壁面移動ロボットによる確実な窓ガラス清掃動作2012

    • Author(s)
      香月良夫, 池田毅, 山本元司
    • Journal Title

      日本機械学会論文集C編

      Volume: Vol.78 Pages: 557-566

    • NAID

      130002051323

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] 天井裏配線作業ロボットのための柔軟スポーク車輪の段差乗り越え性能2011

    • Author(s)
      山本元司, 高朋飛, 池田毅
    • Journal Title

      日本機械学会論文集C編

      Volume: Vol.77 Pages: 2343-2350

    • NAID

      130000873671

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Presentation] ワイヤの弛みと懸垂物の揺れを考慮した2本ペア型パラレルワイヤ懸垂型ロボットの動力学計算と動作実験2013

    • Author(s)
      高橋宏輔,山本元司
    • Organizer
      日本機械学会ロボティクスメカトロニクス部門学術講演会(ROBOMEC'13)
    • Place of Presentation
      つくば市
    • Related Report
      2013 Final Research Report
  • [Presentation] むだ時間を含む視覚フィードバックと筋内力フィードフォワードの組み合わせによる位置制御2013

    • Author(s)
      松谷祐希,田原健二,木野仁,越智裕章,山本元司
    • Organizer
      第31回日本ロボット学会学術講演会RSJ2013
    • Place of Presentation
      東京都
    • Related Report
      2013 Final Research Report
  • [Presentation] ワイヤの弛みと懸垂物の揺れを考慮した2本ペア型パラレルワイヤ懸垂型ロボットの動力学計算と動作実験2013

    • Author(s)
      山本元司
    • Organizer
      日本機械学会ロボティクスメカトロニクス部門学術講演会(ROBOMEC'13)
    • Place of Presentation
      つくば国際会議場
    • Related Report
      2013 Annual Research Report
  • [Presentation] 筋骨格型ロボットの筋内力フィードフォワード位置制御における関節トルクに基づく筋配置設計法2013

    • Author(s)
      松谷祐希(越智裕章,木野仁,石橋良太,田原健二,山本元司)
    • Organizer
      日本機械学会ロボティクスメカトロニクス部門学術講演会(ROBOMEC'13)
    • Place of Presentation
      つくば国際会議場
    • Related Report
      2013 Annual Research Report
  • [Presentation] むだ時間を含む視覚フィードバックと筋内力フィードフォワードの組み合わせによる位置制御2013

    • Author(s)
      松谷祐希(田原健二,木野仁,越智裕章,山本元司)
    • Organizer
      日本ロボット学会学術講演会RSJ2013
    • Place of Presentation
      首都大学東京 南大沢キャンパス
    • Related Report
      2013 Annual Research Report
  • [Presentation] 摩擦接触を伴う柔軟体の変形シミュレーション2013

    • Author(s)
      岡文香(菊植亮,山本元司)
    • Organizer
      日本ロボット学会学術講演会RSJ2013
    • Place of Presentation
      首都大学東京 南大沢キャンパス
    • Related Report
      2013 Annual Research Report
  • [Presentation] Design of Complementary Filter for High-fidelity Attitude Estimation based on Sensor Dynamics Compensation with Decoupled Properties2012

    • Author(s)
      Ken Masuya, Tomomichi Sugihara and Motoji Yamamoto
    • Organizer
      2012 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Saint Paul, Minnesota, USA
    • Related Report
      2012 Research-status Report
  • [Presentation] Externally Sensorless Dynamic Regrasping and Manipulation by a Triple-Fingered Robotic Hand with Torsional Fingertip Joints2012

    • Author(s)
      Kenji Tahara, Keigo Maruta, Akihiro Kawamura and Motoji Yamamoto
    • Organizer
      2012 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Saint Paul, Minnesota, USA
    • Related Report
      2012 Research-status Report
  • [Presentation] An Adaptive Windowing Parabolic Sliding Mode Filter for Improving Velocity Feedback for Position Control2012

    • Author(s)
      Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto
    • Organizer
      第30回日本ロボット学会学術講演会
    • Place of Presentation
      札幌市札幌コンベンションセンター
    • Related Report
      2012 Research-status Report
  • [Presentation] Discrete-Time velocity estimator based on sliding mode and adaptive windowing2012

    • Author(s)
      Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto
    • Organizer
      2012 IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      福岡市 九州大学
    • Related Report
      2012 Research-status Report
  • [Presentation] カテナリー曲線に基づく大規模パラレルワイヤ懸垂機構の運動表現2011

    • Author(s)
      武田弘太郎,山本元司
    • Organizer
      日本機械学会九州支部第64期総会講演会
    • Place of Presentation
      福岡市
    • Related Report
      2013 Final Research Report
  • [Presentation] カテナリー曲線と懸垂物の動力学に基づく大規模パラレルワイヤ懸垂機構の運動表現2011

    • Author(s)
      武田弘太郎,山本元司
    • Organizer
      日本機械学会ロボティクスメカトロニクス部門学術講演会(ROBOMEC'11)
    • Place of Presentation
      岡山市
    • Related Report
      2013 Final Research Report
  • [Presentation] On the Percussion Center of Flexible Links2011

    • Author(s)
      Mikhail Svinin, Makoto Kaneko, Motoji Yamamoto
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Shanghai, China
    • Related Report
      2013 Final Research Report
  • [Presentation] High-Backdrivable Parallel-Link Manipulator with Continuously Variable Transmission2011

    • Author(s)
      Kenji Tahara, Shingo Iwasa, Shu Naba and Motoji Yamamoto
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robot and Systems
    • Place of Presentation
      San Francisco, USA
    • Related Report
      2013 Final Research Report
  • [Presentation] カテナリー曲線と懸垂物の動力学に基づく大規模パラレルワイヤ懸垂機構の運動表現2011

    • Author(s)
      武田弘太郎,山本元司
    • Organizer
      2011年日本機械学会ロボティクスメカトロニクス部門学術講演会
    • Place of Presentation
      岡山市,岡山コンベンションセンター
    • Related Report
      2011 Research-status Report
  • [Presentation] High-Backdrivable Parallel-Link Manipulator with Continuously Variable Transmission2011

    • Author(s)
      Kenji Tahara, Shingo Iwasa, Shu Naba and Motoji Yamamoto
    • Organizer
      2011 IEEE/RSJ International Conference on Intelligent Robot and
    • Place of Presentation
      San Francisco, CA, USA
    • Related Report
      2011 Research-status Report
  • [Presentation] 動的特性補償した慣性センサと磁気センサの相補的利用による高精度三次元姿勢推定2011

    • Author(s)
      舛屋賢,杉原知道,山本元司
    • Organizer
      第29回日本ロボット学会学術講演会RSJ2011
    • Place of Presentation
      芝浦工業大学
    • Related Report
      2011 Research-status Report
  • [Remarks]

    • URL

      http://sc.mech.kyushu-u.ac.jp

    • Related Report
      2013 Final Research Report
  • [Patent(Industrial Property Rights)] 関節運動補助具2013

    • Inventor(s)
      山本元司
    • Industrial Property Rights Holder
      山本元司
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2011-057470
    • Filing Date
      2013-12-05
    • Related Report
      2013 Annual Research Report

URL: 

Published: 2011-08-05   Modified: 2019-07-29  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi